地下環境におけるUAV/UGVチームの位置推定不確かさを考慮した探索計画
Search Planning of a UAV/UGV Team with Localization Uncertainty in a Subterranean Environment
地下環境での捜索救助のため、UGVがUAVの位置推定と軌道計画を担うチーム構成で、信念空間を評価して位置推定誤差を抑えつつ探索経路を計画するアルゴリズムを提案し、シミュレーションで有効性を示した。
著者: Matteo De Petrillo, Jared Beard, Yu Gu, Jason N. Gross
分類: cs.RO
原文アブストラクト
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the localization of the UAV is conducted on the UGV via the multi-sensor fusion of a fish-eye camera, 3D LIDAR, ranging radio, and a laser altimeter. Likewise, the trajectory planning of the UAV is conducted on the UGV, which is assumed to have a 3D map of the environment (e.g., from Simultaneous Localization and Mapping). The goal of the planning algorithm is to satisfy the mission's exploration criteria while reducing the localization error of the UAV by evaluating the belief space for potential exploration routes. The presented algorithm is evaluated in a relevant simulation environment where the planning algorithm is shown to be effective at reducing the localization errors of the UAV.
